Table 1. Table summarizing the different performance and characteristics of the micro-grippers.
The error on the weight measurement is obtained dividing the scale’s resolution by the number of simultaneously weighted grippers. Fem is used to refer to the electromagnetic force.
| Gripper | Weight (μN) | Estimated cross section (μm2) | Estimated surface area (μm2) | Drag coefficient | Magnetic dipole moment (A ⋅ m2) | Estimated maximum Fem (nN) |
|---|---|---|---|---|---|---|
| 6-finger (980 μm) | 147±8 | 9310 | 2.7×105 | 0.04±0.01 | 3.9×10−7 | 23.4 |
| 6-finger (250 μm) | 12.3±0.4 | 2370 | 2×104 | 0.06±0.02 | 5.5×10−9 | 0.33 |
| 6-finger (100 μm) | 2.6±0.1 | 330 | 3.3×103 | 0.37±0.03 | 9.3×10−11 | 0.0056 |
| 2-finger (750 μm) | 109±3 | 1300 | 7.8×104 | 0.07±0.02 | 6.3×10−8 | 3.8 |